WO2022107195A1 - Système de compensation d'effet doppler et procédé de compensation d'effet doppler - Google Patents

Système de compensation d'effet doppler et procédé de compensation d'effet doppler Download PDF

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Publication number
WO2022107195A1
WO2022107195A1 PCT/JP2020/042768 JP2020042768W WO2022107195A1 WO 2022107195 A1 WO2022107195 A1 WO 2022107195A1 JP 2020042768 W JP2020042768 W JP 2020042768W WO 2022107195 A1 WO2022107195 A1 WO 2022107195A1
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Prior art keywords
sound wave
estimation
receiver
speed
unit
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PCT/JP2020/042768
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English (en)
Japanese (ja)
Inventor
美春 大岩
俊光 椿
浩之 福本
洋輔 藤野
真理菜 中野
勇弥 伊藤
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日本電信電話株式会社
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Application filed by 日本電信電話株式会社 filed Critical 日本電信電話株式会社
Priority to PCT/JP2020/042768 priority Critical patent/WO2022107195A1/fr
Priority to JP2022563266A priority patent/JP7397383B2/ja
Priority to US18/036,154 priority patent/US20240019574A1/en
Publication of WO2022107195A1 publication Critical patent/WO2022107195A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/586—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/534—Details of non-pulse systems
    • G01S7/536—Extracting wanted echo signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves

Definitions

  • the present invention relates to a Doppler compensation system and a Doppler compensation method.
  • the Doppler effect is often explained in textbooks and the like by taking the sound of an ambulance siren passing in front of you as an example.
  • the Doppler effect is described as a phenomenon that occurs when the relative velocity between the sound wave and the receiver of the sound wave changes, and the frequency of the sound wave emitted by the sound wave differs from the frequency of the sound wave received by the receiver.
  • the sound wave used for communication is often a synthetic wave because it needs to have a different waveform depending on the content of communication.
  • the synthetic wave is the result of superposition of multiple plane waves. Therefore, the Doppler effect for synthetic waves is an effect that individually changes the frequency of each plane wave that appears in the Fourier expansion. Since the frequency of each plane wave appearing in the Fourier expansion changes individually, the Doppler effect on the composite wave is an effect that distorts the waveform of the composite wave. Since most of the signals used for communication are synthetic waves, the waveform may be distorted due to the Doppler effect.
  • the accuracy of compensation for waveform distortion due to the Doppler effect may decrease.
  • a synthetic wave of various sound waves arriving via different paths arrives at the receiver.
  • Different routes have different effects of the Doppler effect. Therefore, the composite wave observed by the receiver is a composite wave with a different shift amount for each plane wave forming the composite wave. That is, the receiver observes a combined wave with different amounts of Doppler shift.
  • Such a problem may occur not only in communication in water but also in communication in air or communication in which the sound wave propagation path is solid.
  • an object of the present invention is to provide a technique for reducing the influence of the Doppler effect on communication.
  • One aspect of the present invention is a ground velocity-related quantity which is a physical quantity relating to a sound wave receiving element that receives a sound wave transmitted by the transmitter and a vector representing the ground velocity of the receiver based on the acceleration of the receiver including the sound wave receiving element.
  • the arrival direction of the estimation target sound wave based on the estimation target sound wave, the extraction unit that extracts the estimation target sound wave that is the estimation target sound wave from the sound waves received by the receiver, and the ground speed related amount acquisition unit.
  • the estimation target sound wave seen from the receiver of the receiver Based on the arrival direction estimation unit that estimates, the ground speed-related amount acquired by the ground speed-related amount acquisition unit, and the estimation result of the arrival direction estimation unit, the estimation target sound wave seen from the receiver of the receiver.
  • the present invention makes it possible to provide a technique for reducing the influence of the Doppler effect on communication.
  • FIG. 1 is an explanatory diagram illustrating a communication system 100 according to an embodiment.
  • the communication system 100 will be described by taking the case where the wave carrying the signal is a sound wave and the medium through which the sound wave propagates is water as an example.
  • the communication system 100 does not necessarily have to be used underwater.
  • the communication system 100 may be used, for example, in the air.
  • the medium through which the sound wave propagates is, for example, air.
  • the medium through which the sound wave propagates may be, for example, a solid.
  • the communication system 100 includes a transmitter 9 and a receiver 1.
  • the transmitter 9 transmits a sound wave (hereinafter referred to as “data wave”) that carries data indicating the communication content to the receiver 1.
  • data wave a sound wave
  • the data wave received by the receiver 1 and transmitted by the transmitter 9 includes a multipath wave and a direct wave.
  • the multipath wave is a sound wave transmitted from the transmitter 9 and reaches the receiver 1 after being reflected or scattered at the boundary surface of a substance such as a sea surface or a scatterer.
  • the direct wave is a sound wave that reaches the receiver 1 without being reflected or scattered at the boundary surface of the substance.
  • the waveform of the sound wave received by the receiver 1 is a waveform distorted more than the waveform of the sound wave transmitted by the transmitter 9.
  • the receiver 1 receives the data wave transmitted by the transmitter 9.
  • the receiver 1 is a mobile body such as a drone.
  • the receiver 1 uses the received data wave to compensate for the distortion of the waveform due to the Doppler effect of the received data wave itself.
  • the receiver 1 has a ground acceleration vector representing the acceleration of the receiver 1 with respect to the ground (hereinafter referred to as “ground acceleration”) and information indicating the direction in which the signal transmitted from the transmitter 9 arrives at the receiver 1. Based on this, the distortion of the waveform of the data wave due to the Doppler effect is compensated.
  • the information indicating the direction in which the signal transmitted from the transmitter 9 arrives at the receiver 1 (hereinafter referred to as “reception direction information”) is, for example, the direction in which the transmitter 1 is viewed from the receiver 1 where the direct wave arrives. Alternatively, it is information indicating the direction in which the multi-pass wave seen from the receiver 1 arrives (hereinafter referred to as "reception direction").
  • the reception direction information is information indicating, for example, a vector (hereinafter referred to as “reception direction vector”) in the direction in which a direct wave or a multipath wave arrives when viewed from the receiver 1.
  • the reception direction vector indicated by the reception direction information may have any length as long as it indicates the reception direction.
  • the length of the reception direction vector may be 1.
  • the communication system 100 will be described by taking the case where the information indicated by the receiving direction information is the information indicating the receiving direction vector as an example.
  • the direction of the reception direction vector is the opposite of the propagation direction of the direct wave or the multipath wave.
  • the ground acceleration vector is the result of the measurement of the acceleration sensor included in the receiver 1.
  • the receiver 1 acquires a ground speed-related quantity based on the ground acceleration vector.
  • the ground speed-related quantity is a physical quantity related to a vector representing the ground speed of the receiver 1 (hereinafter referred to as “ground speed vector”).
  • the ground speed-related quantity is, for example, the ground speed vector itself of the receiver 1.
  • the ground speed-related quantity is, for example, the amount of change in the ground speed vector of the receiver 1 in a predetermined period.
  • the process of acquiring the ground speed-related amount based on the ground acceleration vector is referred to as the ground speed-related amount acquisition process.
  • the ground acceleration vector acquired by the acceleration sensor is, for example, a vector representing ground acceleration in each direction represented by three orthogonal axes. In such a case, the ground acceleration vector acquired by the acceleration sensor is represented by a three-dimensional vector.
  • the ground acceleration vector acquired by the acceleration sensor may be one-dimensional or may be two or more multidimensional vectors.
  • the ground speed-related amount acquisition process may be any process as long as it is a process for acquiring the ground speed-related amount based on the ground acceleration vector acquired by the acceleration sensor.
  • the ground speed acquisition process may be a process of time-integrating the ground acceleration vector acquired by the acceleration sensor, for example, under the condition that the integration range is a predetermined unit time.
  • the ground speed related amount acquisition process is more specifically, for example, a process represented by the following equation (1).
  • the vector Vr on the left side of the equation (1) is a vector representing the ground speed-related quantity of the receiver 1 (hereinafter referred to as “ground speed-related quantity vector”).
  • t represents the time.
  • the vector At represents the ground acceleration vector at time t .
  • V 0 is a velocity vector representing the velocity of the receiver 1 at the time of the lower limit of the time integration (that is, the time of the start of the unit time).
  • a velocity vector in which all the elements are 0 may be used, or a velocity vector representing the ground speed of the receiver 1 at the start time of the unit time may be used.
  • the ground speed related quantity is the ground speed vector of the receiver 1. ..
  • the method of acquiring the ground initial velocity vector will be described in a modified example.
  • the ground speed-related quantity is the amount of change in the ground speed vector of the receiver 1 in a predetermined unit time.
  • the communication system 100 will be described by taking the case where the ground speed related quantity is the ground speed vector as an example.
  • the reception direction information is obtained by performing extraction processing and arrival direction estimation processing using an array of a device that receives sound waves such as data waves (hereinafter referred to as "sound wave receiving element"). Since the reception direction information is obtained by performing the extraction process and the arrival direction estimation process, the details of the process for acquiring the reception direction information will be described after the description of the extraction process and the arrival direction estimation process.
  • the sound wave receiving element is provided in the receiver 1.
  • the sound wave receiving element is, for example, a hydrophone.
  • the sound wave receiving element is, for example, a microphone.
  • the arrival time (hereinafter referred to as “estimation target sound wave”) of the sound wave to be estimated arrives at the receiver 1 from among various sound waves arriving at the receiver 1. It is a process of extracting a sound wave including an estimation target sound wave based on the “arrival time”) and the arrival time.
  • the estimation target sound wave is also a target sound wave that compensates for the distortion of the waveform due to the Doppler effect.
  • the sound wave including the estimation target sound wave is a sound wave obtained by adding the estimation target sound wave received by the receiver 1 and a sound wave other than the estimation target sound wave received by the receiver 1 at the same time as the estimation target sound wave.
  • the sound wave other than the sound wave to be estimated is, for example, a multipath wave or noise when the sound wave to be estimated is a direct wave.
  • the extraction process is a process of extracting a time series including the arrival time of the estimation target sound wave and the estimation target sound wave based on the time series ⁇ (t) of the cross-correlation value.
  • t is the time of day.
  • the time t at which the cross-correlation value ⁇ (t) is maximized is estimated as the arrival time of the direct wave, and the sound wave arriving at the receiver 1 after the time t is estimated. It is estimated as a sound wave including sound waves, and the estimated sound wave is extracted. In this way, sound waves including the estimation target sound wave are acquired from various sound waves arriving at the receiver 1 by executing the extraction process.
  • a time-series signal including an estimation target time-series signal is estimated from a plurality of time-series signals output by the sound source receiving element based on the arrival time of the estimation target sound and estimated.
  • the estimation target time-series signal is a time-series signal representing an estimation target sound wave.
  • the time-series signal including the estimation target time-series signal is a time-series signal representing a sound wave including the estimation target sound wave.
  • the time-series signal is the result of converting the sound wave received by the sound wave receiving element into a signal such as an electric signal or an optical signal by the sound wave receiving element itself.
  • the time-series signal is a signal representing the time-series of sound waves.
  • the process of extracting the estimated time-series signal may be, for example, a process of extracting only the signal representing the estimated time-series signal with a filter configured by a circuit such as an electric circuit or an optical circuit.
  • the extraction of sound waves specifically means the acquisition of a signal representing the time series of sound waves.
  • the signal representing the time series of sound waves is a time series that satisfies the time series conditions.
  • the time-series condition is a condition that each sample at each time indicates the intensity of the sound wave received by the sound wave receiving element at each time.
  • the calculation of the cross-correlation value including the sound wave to be estimated may be performed by any signal as long as the time-series signal can be extracted. For example, it may be performed by a frequency series signal.
  • the frequency series signal is a Fourier transformed signal of the time series signal. In the following description, for the sake of simplicity, a time-series signal will be used.
  • the cross-correlation value is a value representing a correlation between an arbitrary time series or a predetermined time series (hereinafter referred to as "known time series") and a time series of sound waves received by each sound wave receiving element.
  • expressing the correlation means expressing the degree of similarity.
  • the cross-correlation value is expressed by, for example, the following equation (2).
  • n is an integer of 1 or more and N or less.
  • N is the number of sound wave receiving elements. Therefore, xn represents a time series of sound waves received by the nth sound wave receiving element of the N sound wave receiving elements.
  • w (k) represents a known time series. K represents the length of the time domain of w (t). k represents time. t is the delay time from the start time of xn .
  • the known signal representing the known time series is a signal representing the time series of the signal transmitted by the transmitter 9, the time when the cross-correlation value becomes maximum.
  • the sound wave arriving at t is a direct wave. This is because the longer the path through which the sound wave reaches the sound wave receiving element, the lower the magnitude of the sound wave, that is, the absolute value of x n (t) at each time t, and the lower the cross-correlation value. Therefore, for example, in an environment approximated by a two-wave model as shown in FIG. 1, when the known signal is a signal representing the time series of the signal transmitted by the transmitter 9, the time when the cross-correlation value becomes the second arrives.
  • the sound wave is a multipath wave that is reflected on the sea surface and arrives at the receiver 1.
  • the extraction process can extract a time series including sound waves arriving from the direction according to the selection rule regardless of whether it is a direct wave or not.
  • the selection rule is a rule using the cross-correlation value and is a rule for selecting the sound wave to be estimated.
  • the known time series represents the time series of the signal transmitted by the transmitter 9, and in the extraction process, the sound wave arriving at the time when the cross-correlation value is the Pth (P is an integer of 1 or more) is estimated.
  • the rule is that a time-series signal including the arrival time of the sound wave to be estimated and the sound wave to be estimated is estimated.
  • the sorting rule is a rule defined before the execution of the extraction process.
  • the selection rule may be set by the user or may be predetermined at the time of construction of the communication system 100.
  • the incoming sound wave may be estimated.
  • the known time series represents the time series representing the signal transmitted by the transmitter 9, and in the extraction process, the sound that arrives at the time with the largest cross-correlation value is the sound to be estimated.
  • the communication system 100 will be described by taking as an example the case where the rule is estimated as.
  • the known time series represents the time series of the signal transmitted by the transmitter 9, and when the sound wave arriving at the time when the cross-correlation value has the largest cross-correlation value is estimated as the estimation target sound wave in the extraction process, the estimation target sound wave is It is a direct wave.
  • the arrival direction estimation process is a process of estimating the direction in which the estimation target sound wave has arrived (hereinafter referred to as “arrival direction”) based on at least the arrival time of the estimation target sound wave estimated by the extraction process and the element arrangement information.
  • the element arrangement information is information indicating the arrangement of the sound wave receiving element in the receiver 1.
  • the arrival direction estimation process is, for example, a process of executing the method described in Section 3-1 of Reference 1.
  • the method described in Section 3-1 of Reference 1 is a method of estimating the arrival direction based on the time difference between the sound wave receiving elements at the time when the sound wave receiving element receives the sound wave to be estimated and the element arrangement information.
  • the arrival direction is parallel to the direction in which the receiver 1 looks at the transmitter 9. Therefore, information indicating the direction in which the transmitter 9 is viewed from the receiver 1 (that is, reception direction information) can be obtained by the method described in Section 3-1 of Reference 1.
  • FIG. 2 is an explanatory diagram illustrating an example of the arrival direction estimation process in the embodiment.
  • both # 1 and # 2 indicate a sound wave receiving element. That is, FIG. 2 shows two sound wave receiving elements, a sound wave receiving element # 1 and a sound wave receiving element # 2.
  • FIG. 2 shows that the distance between the sound wave receiving element # 1 and the sound wave receiving element # 2 is d.
  • the wave W101 represents an estimation target sound wave.
  • the information that the distance between the sound wave receiving element # 1 and the sound wave receiving element # 2 is d is an example of the element arrangement information.
  • the propagation direction of the sound wave to be estimated is the time at which the angle formed by the vertical line of the straight line connecting the sound wave receiving element # 1 and the sound wave receiving element # 2 (hereinafter referred to as “reception reference line”) is earlier than that of the sound wave to be estimated. It is a direction in which the angle ⁇ 1 is directed toward the direction of the sound wave receiving element to be received. Therefore, when the angle ⁇ 1 is not 0 ° or 180 °, the propagation direction of the sound wave to be estimated is not perpendicular to the reception reference line.
  • the reception reference line is a straight line L101.
  • the angle ⁇ 1 is an example of reception direction information. Therefore, the angle ⁇ 1 is an example of the direction of the reception direction vector.
  • FIG. 2 shows the time when the sound wave receiving element # 1 receives the sound wave to be estimated and the time when the sound wave receiving element # 2 receives the sound wave to be estimated when the propagation direction of the sound wave to be estimated is not perpendicular to the reception reference line. Indicates that is different.
  • x 1 (t) represents a time series of various sound waves received by the sound wave receiving element # 1.
  • x 2 (t) represents a time series of various sound waves received by the sound wave receiving element # 2.
  • the time series of various sound waves received by the sound wave receiving element is referred to as a received time series signal. Since the received time series signal is a time series including the estimation target time series signal, the received time series signal is a time series representing the sound wave including the estimation target sound wave.
  • x 1 (t) and x 2 (t) are examples of time-series signals including time-series signals to be estimated.
  • the time difference between the time when the sound wave receiving element # 1 receives the estimation target sound wave and the time when the sound wave receiving element # 2 receives the estimation target sound wave is ⁇ , and the sound wave receiving element # 1 first receives the estimation target sound wave.
  • x 1 (t ⁇ ) x 2 (t).
  • c represents the propagation velocity of the sound wave to be estimated.
  • the propagation velocity c is a constant.
  • the cross-correlation value ⁇ n (t) shown in the equation (2) becomes maximum when the similarity between w and the time series in which x n is delayed by t is the highest. Therefore, when w and x n in the equation (2) are replaced with x 1 and x 2 , respectively, the time when the sound wave receiving element # 1 receives the estimation target sound wave and the sound wave receiving element # 2 receive the estimation target sound wave. When the time difference ⁇ from the time is assigned to t, the cross-correlation value ⁇ n (t) becomes maximum.
  • the direction of arrival of the direct wave is then estimated using the element arrangement information and the equation (3).
  • the arrival direction is a direction in which the angle formed by the perpendicular line of the reception reference line is an angle ⁇ 1 in the direction of the sound wave receiving element that receives the sound wave to be estimated at an earlier time. In this way, the arrival direction is estimated by the method of 3-1 of Reference 1.
  • the extraction process is executed before the arrival direction estimation process is executed. Therefore, in the communication system 100, the cross-correlation value satisfying the selection rule has already been obtained for each sound wave receiving element before the execution of the arrival direction estimation process, and the time difference ⁇ satisfying the selection rule is also the arrival direction for each sound wave receiving element. It has already been obtained before the estimation process is executed.
  • the reference time difference acquisition process is a process of obtaining a time difference ⁇ that gives a cross-correlation value that satisfies the selection rule. Since the time difference ⁇ that satisfies the selection rule as described above is obtained in the process of the extraction process, the reference time difference acquisition process is a process of reading out the time difference ⁇ obtained by the extraction process.
  • the time difference ⁇ that satisfies the selection rule is the time difference of the time when the known time series transmitted by the transmitter 9 arrives at each sound wave receiving element (hereinafter referred to as “element reference time difference”). Therefore, the element reference time difference ⁇ is, for example, the time difference ⁇ between the time t 1 at which ⁇ 1 (t) is maximum and the time t 2 at which ⁇ 2 (t) is maximum in the equation (2), and is a time difference satisfying the selection rule. ⁇ .
  • the time difference between the time when the estimated target sound wave is received between the sound wave receiving elements is acquired by using the time when the cross-correlation value obtained in the extraction process becomes maximum.
  • the time difference between the time when the estimated target sound wave is received with respect to the j-th sound wave receiving element of the i-th sound wave receiving element (hereinafter referred to as “element-to-element time difference Tij ”) has a cross-correlation value ⁇ j (t). It is a value obtained by subtracting the cross-correlation value ⁇ i (t) from the maximum time argmax ⁇ j (t) ⁇ to the maximum time argmax ⁇ i (t) ⁇ .
  • Both i and j are integers of 1 or more and N or less, and i and j are different values.
  • time difference acquisition process the process of acquiring the time difference between elements for each element set ⁇ i, j ⁇ based on the cross-correlation value is referred to as a time difference acquisition process.
  • the time difference acquisition process is, for example, a process represented by the following equation (4).
  • the arrival direction of the sound wave to be estimated is estimated by using the obtained time difference Tij between elements and the element arrangement information. Specifically, the value on the left side of the following equation (5) in which ⁇ in the equation (3) is replaced with Tij is acquired for each element set ⁇ i, j ⁇ , and the statistical value of the angle indicated by the acquired value is obtained. To get. Statistics are, for example, averages.
  • dj is the distance between the i-th sound wave receiving element and the j-th sound wave receiving element.
  • ⁇ ij is a value defined by the equation (5).
  • the statistical value is represented by, for example, the following equation (6).
  • the direction in which the angle formed by the vertical line of the reception reference line is the angle ⁇ of the equation (6) in the direction of the sound wave receiving element that receives the sound wave to be estimated at an earlier time is the arrival direction.
  • the reception reference line is one line connecting the N sound wave receiving elements.
  • the arrival direction estimation process may be, for example, a process of executing the method described in Section 3-3-2 of Reference 1 below.
  • the method described in Section 3-3-2 of Reference 1 does not necessarily have to calculate the time difference, unlike the method described in Section 3-3-1 of Reference 1. That is, it is not always necessary to execute the time difference acquisition process.
  • the method described in Section 3-3-2 of Reference 1 is executed, if a signal-received sound wave in which various sound waves received by a plurality of sound wave receiving elements are added is obtained, the estimation target sound wave is obtained. It is possible to estimate the direction of arrival.
  • the receiver 1 estimates a quantity related to the speed in the receiving direction of the receiver 1 (hereinafter referred to as “reception direction speed-related quantity”) by using the ground speed-related quantity vector and the result of the arrival direction estimation process.
  • the reception direction speed-related quantity may be a signed speed in the reception direction of the receiver 1 (hereinafter referred to as “reception direction signed speed”), or may be a signed speed in the reception direction of the receiver 1. It may be the amount of change in a predetermined period of time.
  • the reception direction speed-related quantity is a speed with a sign in the reception direction when the ground speed-related quantity is a ground speed vector. That is, the reception direction speed-related quantity is coded in the reception direction of the receiver 1 when a speed vector representing the ground speed of the receiver 1 at the start time of the unit time is used for V0 in the equation ( 1 ). It's speed.
  • the reception direction speed-related amount is the change amount of the reception direction signed speed in the unit time when the ground speed-related amount is the change amount of the ground speed vector in the unit time. That is, the reception direction speed-related quantity is the amount of change in the unit time of the signed speed in the reception direction of the receiver 1 when a velocity vector in which all the elements are 0 is used for V 0 in the equation (1). be.
  • reception direction speed-related amount estimation process the process of estimating the reception direction speed-related amount using the ground speed-related amount and the result of the arrival direction estimation process is referred to as a reception direction speed-related amount estimation process. Further, for the sake of simplicity of the following description, a case where a velocity vector in which all the elements are 0 is used for the velocity vector V 0 will be described. The method of acquiring the information indicating the receiving direction (that is, the receiving direction information) will be described after the description of the receiving direction speed-related quantity estimation process.
  • the reception direction speed-related amount estimation process may be any process as long as the reception direction speed-related amount can be estimated using the ground speed-related amount and the result of the arrival direction estimation process.
  • the reception direction speed-related quantity estimation process is, for example, a process of obtaining the inner product of the ground speed-related quantity vector and the reception direction vector standardized to the length 1.
  • the direction of the reception direction vector is the direction of the reception direction. Therefore, the reception direction vector is an example of information indicating the reception direction.
  • the receiving direction speed-related quantity estimation process is more specifically, for example, a process represented by the following equation (7).
  • the vector e represents a reception direction vector.
  • represents the length of the vector e.
  • V represents a speed-related quantity in the receiving direction. Therefore, the equation (7) means that the inner product of the vector Vr and the normalized reception direction vector e is the reception direction speed-related quantity V.
  • the vector Vr is a ground speed related quantity vector of the receiver 1.
  • the communication system 100 will be described by taking the case where the length of the reception direction vector is 1 as an example.
  • FIG. 3 is an explanatory diagram illustrating the relationship between the reception direction speed-related quantity V and the reception direction vector e in the embodiment.
  • FIG. 3 shows that the length of the normal oblique shadow vector obtained as a result of oblique shadowing of the ground speed related quantity vector Vr represented by the equation (1) on the reception direction vector e is the reception direction speed related quantity V. ..
  • reception direction information acquisition process is a process of estimating the arrival direction of a direct wave or a multipath wave by executing an extraction process and an arrival direction estimation process. That is, the reception direction information acquisition process may be, for example, a process of estimating the arrival direction of the sound wave arriving at the time when the cross-correlation value becomes the magnitude based on the selection rule, and is described in Section 3-3-2 of Reference 1. The method described may be performed on any sound wave to be estimated.
  • FIG. 4 is a diagram showing an example of the hardware configuration of the receiver 1 in the embodiment.
  • the receiver 1 includes a control unit 11 including a processor 91 such as a CPU (Central Processing Unit) connected by a bus and a memory 92, and executes a program.
  • the receiver 1 functions as a device including a control unit 11, a received wave signal output unit 12, a storage unit 13, and an acceleration sensor 14 by executing a program.
  • a control unit 11 including a processor 91 such as a CPU (Central Processing Unit) connected by a bus and a memory 92, and executes a program.
  • the receiver 1 functions as a device including a control unit 11, a received wave signal output unit 12, a storage unit 13, and an acceleration sensor 14 by executing a program.
  • a control unit 11 including a processor 91 such as a CPU (Central Processing Unit) connected by a bus and a memory 92, and executes a program.
  • the receiver 1 functions as a device including a control unit 11, a received wave
  • the processor 91 reads out the program stored in the storage unit 13, and stores the read program in the memory 92.
  • the receiver 1 functions as a device including a control unit 11, a received wave signal output unit 12, a storage unit 13, and an acceleration sensor 14.
  • the control unit 11 controls the operation of various functional units included in the receiver 1.
  • the control unit 11 executes, for example, a reception direction speed speed estimation process.
  • the control unit 11 executes, for example, an extraction process.
  • the control unit 11 executes, for example, an arrival direction estimation process.
  • the extraction process may be, for example, the method described in Reference 3 described later.
  • the received wave signal output unit 12 includes a sound wave receiving element 211-1 to a sound wave receiving element 201-N, and a signal detection unit 202. As described above, the received wave signal output unit 12 includes N (that is, a plurality of) sound wave receiving elements. Hereinafter, when the sound wave receiving element 211-1 to the sound wave receiving element 201-N are not distinguished from each other, the sound wave receiving element 201 is referred to.
  • the received wave signal output unit 12 does not necessarily have to include a plurality of sound wave receiving elements, and may include one sound wave receiving element 201.
  • the received wave signal output unit 12 outputs a time series of sound waves received by each sound wave receiving element 201 (hereinafter referred to as "received wave signal").
  • the received wave signal is a signal of a sound wave to which various sound waves arriving at the receiver 1 are added.
  • the receiver 1 includes a communication unit that communicates with an external device, and an instruction of an estimation target sound wave may be input to the receiver 1 via the communication unit.
  • the control unit 11 estimates the arrival direction of the sound wave to be estimated indicated by the instruction of the sound wave to be estimated.
  • the instruction of the sound wave to be estimated does not necessarily have to be input to the receiver 1, and the control unit 11 may estimate the arrival direction of the sound wave satisfying a predetermined condition regarding the sound wave to be estimated.
  • the predetermined condition regarding the sound wave to be estimated is, for example, a sound wave that reaches the element reference time difference at which the cross-correlation value of the received wave signals received by the plurality of sound wave receiving elements is maximized.
  • the process of estimating the arrival direction of the sound wave satisfying the condition of the sound wave arriving at the element reference time difference at which the cross-correlation value of the known signal and the received wave signal is maximum is the process of estimating the arrival direction of the direct wave.
  • the communication system 100 will be described by taking as an example the case where the sound wave to be estimated is a direct wave stored in the storage unit 13 in advance. That is, for the sake of simplicity of the following description, the communication system 100 will be described by taking as an example the case where the sound wave to be estimated is a direct wave.
  • the storage unit 13 is configured by using a non-temporary computer-readable storage medium device such as a magnetic hard disk device or a semiconductor storage device.
  • the storage unit 13 stores various information about the receiver 1.
  • the storage unit 13 stores, for example, element arrangement information in advance.
  • the storage unit 13 stores, for example, information indicating a known time series in advance.
  • the storage unit 13 stores the propagation speed c in advance.
  • the acceleration sensor 14 acquires a ground acceleration vector At indicating ground acceleration in one or more directions of the receiver 1.
  • the ground acceleration vector At shows, for example, ground acceleration in three orthogonal directions.
  • the receiver 1 may include a power unit that generates lift for moving the receiver 1 according to the control of the control unit 11.
  • the power unit that generates lift for moving the receiver 1 is, for example, a propeller with a motor.
  • the power unit is a propeller with a motor
  • the motor is rotated by the control of the control unit 11, and the propeller is rotated by the rotation of the motor.
  • Lift is generated by the rotation of the propeller.
  • FIG. 5 is a diagram showing an example of the functional configuration of the control unit 11 in the embodiment.
  • the control unit 11 includes a recording unit 112, an extraction unit 113, an arrival direction estimation unit 114, a sensor value acquisition unit 115, a ground speed-related amount acquisition unit 116, a reception direction speed-related amount estimation unit 117, and a Doppler compensation unit 118.
  • the functional configuration of the arrival direction estimation unit 114 in FIG. 5 is an example of the functional configuration in the case where the arrival direction estimation process is a process of executing the method of estimating the arrival direction described in Section 3-3-1 of Reference 1. Is. Therefore, when the arrival direction estimation process is a process for executing another arrival direction estimation method, the configuration of the arrival direction estimation unit 114 is not necessarily shown in FIG. 5 if the other arrival direction estimation method can be executed. It does not have to be a configuration.
  • the recording unit 112 stores various information acquired by the control unit 11 in the storage unit 13.
  • the extraction unit 113 executes the extraction process. By executing the extraction unit 113, a signal including the sound wave to be estimated is extracted.
  • the extraction process to be executed may be any method as long as the signal including the sound wave to be estimated is extracted.
  • the process of extracting the signal including the sound wave to be estimated is, for example, a method based on the cross-correlation value of the known signal and the received wave signal. Further, the reception time of the signal including the sound wave to be estimated may be acquired according to the method of estimating the arrival direction performed by the arrival direction estimation unit 114.
  • the arrival direction estimation unit 114 executes the arrival direction estimation process.
  • the arrival direction estimation unit 114 estimates the arrival direction of the sound wave to be estimated based on the data waves received by the sound wave receiving element 211-1 to the sound wave receiving element 201-N by executing the arrival direction estimation process. That is, the arrival direction estimation unit 114 estimates the reception direction vector based on the data waves received by the sound wave receiving elements 211-1 to the sound wave receiving elements 201-N by executing the arrival direction estimation process.
  • the arrival direction estimation unit 114 includes a time difference acquisition unit 401, an element arrangement information acquisition unit 402, and a reception direction vector estimation unit 403.
  • the element arrangement information acquisition unit 402 acquires the element arrangement information. More specifically, the element arrangement information acquisition unit 402 reads out the element arrangement information stored in the storage unit 13.
  • the reception direction vector estimation unit 403 estimates the arrival direction by the equations (5) and (6) based on the time difference and the element arrangement information in each element set acquired by the time difference acquisition unit 401. That is, the reception direction vector estimation unit 403 estimates the reception direction vector based on the time difference and the element arrangement information in each element set estimated by the time difference acquisition unit 401.
  • the sensor value acquisition unit 115 acquires the ground acceleration vector At acquired by the acceleration sensor 14.
  • the ground speed-related amount acquisition unit 116 executes the ground speed-related amount acquisition process. By executing the ground speed-related amount acquisition process, the ground speed-related amount acquisition unit 116 acquires the ground speed vector Vr using the ground acceleration vector At.
  • the reception direction speed-related amount estimation unit 117 executes the reception direction speed-related amount estimation process. By executing the reception direction speed-related amount estimation process, the reception direction speed-related amount estimation unit 117 acquires the reception direction speed-related amount V based on the estimation result of the arrival direction estimation unit 114 and the ground speed-related amount Vr. ..
  • the Doppler compensation unit 118 compensates for the received wave signal for each of the sound wave receiving elements 201 based on the reception direction speed-related amount V.
  • the method of compensating the received wave signal executed by the Doppler compensating unit 118 is, for example, the method described in Reference 2.
  • the Doppler compensation unit 118 performs, for example, the processes represented by the following equations (8) to (10) (hereinafter referred to as “element Doppler compensation process”) for each of the sound wave receiving elements 201, thereby each of the sound wave receiving elements 201. Compensate for the received wave signal. That is, the Doppler compensation unit 118 compensates for the distortion of the waveform due to the Doppler effect for each of the sound wave receiving elements 201.
  • z (t) represents the time series after resample of the received wave signal x (t).
  • x (t) represents a received wave signal.
  • r (t) represents the time series as a result of CFO compensation (carrier frequency offset compensation) being applied to the time series z (t) after resampling.
  • j represents an imaginary unit.
  • exp ( ⁇ ) represents an exponential function of the number of napiers at the base.
  • f c represents the carrier frequency of the received wave signal x (t).
  • Trx is the length of the received wave signal x (t) received by the receiver.
  • T tx is the length of the time series of the sound wave to be estimated at the time when the received wave signal received by the sound wave receiving element is transmitted from the transmitter.
  • Equation (8) represents resampling. Specifically, the equation (8) represents that the received wave signal z (t) whose sample points are compensated is obtained by resampling based on the time expansion / contraction rate of the received wave signal x (t). Equation (9) represents CFO compensation. CFO compensation means guaranteeing the received wave signal in which the carrier frequency offset (CFO) is generated by the Doppler effect to the carrier frequency at the time of transmission. ⁇ (t) in equation (10) represents the carrier frequency offset that occurs in the time series z (t) after resampling.
  • the Doppler compensation unit 118 is provided with, for example, an element Doppler compensation unit 801 for each sound wave receiving element 201, so that element Doppler compensation processing is performed for each sound wave receiving element 201.
  • the element Doppler compensation unit 801 executes element Doppler compensation processing for the received wave signal of the corresponding sound wave receiving element 201.
  • the element Doppler compensation unit 801 exists for each sound wave receiving element 201. Therefore, for example, when there are N sound wave receiving elements 201, the Doppler compensation unit 118 has N element Doppler compensation units 801 of element Doppler compensation units 801-1 to element Doppler compensation units 801-N.
  • the Doppler compensation unit 118 outputs the received wave signal after compensation. Predetermined signal processing is executed on the received wave signal after compensation output by the Doppler compensation unit 118.
  • FIG. 6 is a flowchart showing an example of the flow of processing executed by the communication system 100 in the embodiment.
  • the sound wave receiving element 201 receives the sound wave transmitted by the transmitter 9 (step S101).
  • the extraction unit 113 executes the extraction process (step S102).
  • a sound wave including an estimation target sound wave is acquired by acquiring a cross-correlation value.
  • the reception time of the sound wave to be estimated may be acquired according to the arrival direction estimation process performed in the next step S103.
  • the arrival direction estimation unit 114 executes the arrival direction estimation process.
  • the arrival direction estimation unit 114 estimates the arrival direction of the estimation target sound wave based on the reception time of the signal including the estimation target time-series signal acquired in step S102 or the estimation target time-series signal (. Step S103).
  • the sensor value acquisition unit 115 acquires the ground acceleration vector acquired by the acceleration sensor 14 (step S104).
  • the ground speed-related amount acquisition unit 116 acquires the ground speed-related amount by executing the ground speed-related amount acquisition process (step S105).
  • the reception direction speed-related amount estimation unit 117 executes the reception direction speed-related amount estimation process (step S106).
  • the reception direction speed-related amount estimation unit 117 has at least the reception direction speed based on the arrival direction estimated in step S103 and the ground speed-related amount acquired in step S105. Estimate the relevant quantity.
  • the Doppler compensation unit 118 compensates for the distortion of the waveform of the sound wave to be estimated for each of the sound wave receiving element 211-1 to the sound wave receiving element 201-N (step S107).
  • step S103 and the process of step S104 are executed after the process of step S102 is executed and before the process of step S105 is executed, it is not always necessary to execute step S104 after step S103.
  • the process of step S104 may be executed after step S102, and then the process of step S103 may be executed.
  • the arrival direction estimation process executed in step S103 may be any method as long as the arrival direction of the sound wave to be estimated can be estimated at least based on the element arrangement information.
  • FIG. 7 will explain an example of the flow of the arrival direction estimation process executed in step S103.
  • FIG. 7 is a flowchart showing an example of the flow of the arrival direction estimation process in the embodiment.
  • the time difference acquisition unit 401 executes the time difference acquisition process (step S201). By executing the time difference acquisition process, the time difference acquisition unit 401 estimates the time difference Tij between the elements for each element set.
  • the element arrangement information acquisition unit 402 acquires the element arrangement information (step S202).
  • the reception direction vector estimation unit 403 estimates the reception direction vector based on the time difference between each element obtained in step S201 and the element arrangement information obtained in step S202 (step S203).
  • step S201 and the process of step S202 do not necessarily have to be executed in this order if they are executed before the process of step S203 is executed.
  • the process of step S201 may be executed after step S202, and then the process of step S203 may be executed.
  • the communication system 100 configured in this way includes a control unit 11 that estimates the arrival direction of the sound wave to be estimated and estimates the reception direction speed-related amount based on the estimated arrival direction.
  • the control unit 11 has a low correlation between the acceleration sensor capable of sequentially acquiring the amount related to the ground velocity without being affected by the distortion of the sound wave due to the synthesis of the direct wave and the multipass wave, and the sound wave to be estimated and the sound wave to be estimated.
  • the Doppler shift is estimated using the reception direction information.
  • the communication system 100 estimates the Doppler shift from the combined wave of the direct wave and the multipass wave, and uses the Doppler effect of the estimation target sound wave with higher accuracy than the technique of compensating for the distortion of the waveform due to the Doppler effect. It is possible to sequentially estimate and compensate for the amount of change in waveform distortion. Therefore, the communication system 100 can correct the distortion of the waveform due to the Doppler effect with higher accuracy.
  • the communication system 100 configured in this way includes a control unit 11 that estimates a reception direction speed-related amount based on the sound wave received by the sound wave receiving element 201. More specifically, the control unit 11 extracts the sound wave including the sound wave to be estimated, estimates the arrival direction of the sound wave to be estimated based on the extracted result, and is related to the speed in the receiving direction based on the amount related to the ground speed. Estimate the amount.
  • the ground speed related quantity is acquired using the measured value of the accelerometer.
  • the measured value of the accelerometer is the measurement result of the accelerometer.
  • the measured value of the accelerometer is not affected by the sound wave.
  • the waveform of the unmodulated wave is distorted due to the influence of the multipass wave, so the estimation accuracy of the Doppler effect is not high.
  • the communication system 100 since the communication system 100 includes the control unit 11, unlike the technique of compensating for the distortion of the waveform using only the unmodulated wave, the distortion of the waveform is based on the measured value of the acceleration sensor that is not affected by the sound wave. Make compensation. Therefore, the communication system 100 can sequentially estimate and compensate for the amount of change in waveform distortion due to the Doppler effect with high accuracy. Therefore, the communication system 100 can correct the distortion of the waveform due to the Doppler effect with higher accuracy.
  • the communication system 100 can compensate for the distortion of the waveform due to the Doppler effect not only for the direct wave but also for the multipath wave.
  • the reception reference plane is a plane including the sound wave receiving element 211-1 to the sound wave receiving element 201-N.
  • the number of acceleration sensors 14 included in the receiver 1 does not necessarily have to be one, and may be a plurality.
  • an average vector of a plurality of ground acceleration vectors is used instead of the ground acceleration vector measured by one acceleration sensor 14.
  • the ground speed-related amount acquisition unit 116 may acquire the ground speed-related amount based on the measured values of the plurality of acceleration sensors 14.
  • the average may be a weighted average. In the case of a weighted average, it is desirable that the weight is as large as the accelerometer 14 closer to the sound wave receiving element 201.
  • the acceleration sensor 14 outputs the acceleration with respect to the reception reference plane.
  • the communication system 100 may separately perform a process of compensating for the output of the acceleration sensor 14.
  • the noise removal process is a process of passing an electric signal output by the acceleration sensor 14 through a filter that removes noise and transmits a signal indicating an acceleration vector.
  • the filter that removes noise and transmits a signal indicating an acceleration vector may be, for example, a low-pass filter, a loop filter, a moving average filter, or a bandpass filter. May be good.
  • the noise removal process may be executed before the acceleration vector is used in the ground speed related quantity acquisition process. Therefore, the noise removal process may be executed by the sensor value acquisition unit 115 or by the ground speed related amount acquisition unit 116.
  • the communication system 100 may include a residual frequency offset compensation unit 119 that compensates for the frequency offset remaining in the signal output by the Doppler compensation unit 118.
  • FIG. 8 is a diagram showing an example of the residual frequency offset compensation unit 119 in the modified example.
  • the residual frequency offset compensation unit 119 is provided by, for example, the control unit 11.
  • the residual frequency offset compensation unit 119 executes the linear compensation described in Reference 3, for example.
  • the residual frequency offset compensation unit 119 may execute, for example, a processing of frequency offset compensation by PLL (Phase Locked Loop) for the received wave signal after compensation.
  • PLL Phase Locked Loop
  • the residual frequency offset compensation unit 119 may execute, for example, the linear compensation described in Reference 3, and then execute the frequency offset compensation process by the PLL.
  • the communication system 100 may include an initial velocity acquisition unit 120.
  • the initial velocity acquisition unit 120 acquires the initial velocity of the receiver 1.
  • the initial velocity acquisition unit 120 reads the initial velocity from the storage unit 13.
  • the process executed by the initial velocity acquisition unit 120 may be any method as long as the initial velocity can be estimated. For example, the amount of Doppler shift acquired by using the reference wave instantaneously and the estimated value based on the ground acceleration may be used, or the initial velocity may be acquired by the estimation based on the immediately preceding ground acceleration. Further, it may be estimated using the Ambiguity Function described in Reference 3.
  • FIG. 9 is a diagram showing an example of the initial velocity acquisition unit 120 in the modified example.
  • the initial velocity acquisition unit 120 may acquire the initial velocity at any timing as long as the initial velocity can be acquired before the execution of the ground speed-related amount acquisition process by the ground speed-related amount acquisition unit 116.
  • the ground speed-related amount acquisition unit 116 executes the process represented by the equation (1) when acquiring the ground speed-related amount. That is, when acquiring the ground speed-related quantity, the ground speed-related quantity acquisition unit 116 executes a process of acquiring the result of adding the initial velocity to the value of the time integral of the ground acceleration vector as the ground speed-related quantity.
  • the communication system 100 may have only one sound wave receiving element 201 (see Reference 4).
  • reference wave an unmodulated wave
  • a reference wave having a frequency different from the carrier frequency of the data wave By further using a reference wave having a frequency different from the carrier frequency of the data wave, a frequency diversity effect can be obtained and the accuracy of estimation in the arrival direction is improved.
  • the receiver 1 it is not always necessary for the receiver 1 to include all the functional units included in the receiver 1.
  • the arrival direction estimation unit 114, the sensor value acquisition unit 115, the ground speed-related amount acquisition unit 116, and the reception direction speed-related amount estimation unit 117 include the recording unit 112, the extraction unit 113, the Doppler compensation unit 118, and the received wave signal output. It may be mounted on a device different from the unit 12 and the acceleration sensor 14.
  • the arrival direction estimation unit 114, the sensor value acquisition unit 115, the ground speed-related amount acquisition unit 116, and the reception direction speed-related amount estimation unit 117 are external devices different from the receiver 1 such as a server (hereinafter, “receiver management”). It may be provided in "device”).
  • the receiver management device acquires the extraction result of the extraction unit 113 from the receiver 1, the ground acceleration vector acquired by the acceleration sensor 14, and the element arrangement information, and receives the result based on the acquisition result. Estimate the direction speed related quantity.
  • the receiver management device transmits the estimated reception direction speed-related amount to the receiver 1 via communication.
  • the Doppler compensation unit 118 compensates for waveform distortion using the reception direction speed-related amount received by the receiver 1.
  • the problem may be aimed at providing a technique for stably and sequentially estimating and compensating the amount of change in Doppler shift that occurs in an environment where the moving speed of the receiver changes.
  • the communication system 100 is an example of a Doppler compensation system.
  • the program may be recorded on a computer-readable recording medium.
  • the computer-readable recording medium is, for example, a flexible disk, a magneto-optical disk, a portable medium such as a ROM or a CD-ROM, or a storage device such as a hard disk built in a computer system.
  • the program may be transmitted over a telecommunication line.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Un mode de réalisation de la présente invention concerne un système de compensation d'effet Doppler comprenant : un élément de réception d'onde sonore pour recevoir une onde sonore émise par un émetteur ; une unité d'acquisition de quantité relative à la vitesse par rapport au sol pour acquérir, sur la base de l'accélération d'un récepteur équipé de l'élément de réception d'onde sonore, une quantité relative à la vitesse par rapport au sol qui est une quantité physique se rapportant à un vecteur représentant la vitesse par rapport au sol du récepteur ; une unité d'extraction pour extraire une onde sonore qui inclut une onde sonore sujette à une estimation, parmi des ondes sonores reçues par le récepteur, c'est-à-dire à estimer ; une unité d'estimation de direction d'arrivée pour estimer la direction d'arrivée de l'onde sonore objet d'estimation sur la base de l'onde sonore objet d'estimation ; une unité d'estimation de quantité relative à la vitesse dans la direction de réception pour estimer, sur la base de la quantité relative à la vitesse par rapport au sol et du résultat de l'estimation par l'unité d'estimation de direction d'arrivée, une quantité se rapportant à la vitesse dans une direction de réception dans laquelle une onde sonore objet d'estimation arrive, selon le point de vue du récepteur ; et une unité de compensation d'effet Doppler pour compenser toute distorsion de la forme d'onde d'une onde sonore objet d'estimation en raison d'effets Doppler, sur la base du résultat de l'estimation par l'unité d'estimation de quantité relative à la vitesse dans la direction de réception.
PCT/JP2020/042768 2020-11-17 2020-11-17 Système de compensation d'effet doppler et procédé de compensation d'effet doppler WO2022107195A1 (fr)

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